The 5 DOF version is almost done. After some real life testing it turns out the gripper needs some work but all the other components are working as they should.

The "post" axis (the axis between the black part and the lower yellow part) is built using a belt and pulley system to allow the cables to run internally through a hollow shaft.
(that design took quite a lot of work and i think some 8 to 10 redesigns)

Servos... Except for the two servos attached at both ends of the arm which are AX-18's the rest of them are AX-12's. This is a lot easier to implement and program than the original mix of RX-64's, AX-12's and a single std. RC Servo that i used on the mock-up. Now obviously there's less power but for pure simplicity and cost it's a pretty good trade-off.

Some time in the future i'll post some pictures of the internal but for now this is it.

The 5 DOF version is almost done. After some real life testing it turns out the gripper needs some work but all the other components are working as they should.

The "post" axis (the axis between the black part and the lower yellow part) is built using a belt and pulley system to allow the cables to run internally through a hollow shaft.
(that design took quite a lot of work and i think some 8 to 10 redesigns)

Servos... Except for the two servos attached at both ends of the arm which are AX-18's the rest of them are AX-12's. This is a lot easier to implement and program than the original mix of RX-64's, AX-12's and a single std. RC Servo that i used on the mock-up. Now obviously there's less power but for pure simplicity and cost it's a pretty good trade-off.

Some time in the future i'll post some pictures of the internal but for now this is it.